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检索条件"任意字段=Conference on Sensor Fusion and Distributed Robotic Agents"

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Mobile agent-based distributed fusion (MADfusion) system

Mobile agent-based distributed fusion (MADFUSION) system

引用

7th International conference on Information fusion (fusion)

作者： Landis, J Bai, L Salerno, J Hinman, M Boulware, D Temple Univ Dept Elect & Comp Engn Philadelphia PA 19122 USA

ISBN: (纸本)0780392868

This paper considers a system architecture referred to as the Mobile Agent-Based distributed fusion (MADfusion) system. The system environment consists of a peer-to-peer ad-hoc network in which information may be dynamically distributed and collected via publish/subscribe functionality implemented at each node of the network to facilitate data sharing and decision making in Level 2 fusion. The Level 2 decision making process implemented in the system consists of the Enhanced Doctrinal Template Matching (EDTM) algorithm which is shown to be an improvement over the pre-existing Doctrinal Template Matching algorithm. This algorithm is developed to operates on information obtained from lower layer fusion processes in order to identify aggregated groups of entities. The template matching algorithm is shown to be an improvement over a previously existing algorithm. The MADfusion system is proposed to extend the client/server architecture of various publish/subscribe applications to an architecture providing decentralization, reconfigurability, mobility, attainability and prevention of single points of failure. The system is implemented in a wireless ad-hoc network (802.11b) and performs the publish/subscribe functionality through the implementation of a mobile agent based framework. The software agents travel deterministically from node-to-node carrying a data payload consisting of information which may be subscribed to by users within the network. Within this system, situation awareness (Level 2 fusion) can be sought by using these multi-domain information sources (GMTI, Video, or SAR) for evaluation at each node with different distributed information fusion algorithms.

关键词： sensor data fusion

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robotic deployment for environmental sampling applications

Robotic deployment for environmental sampling applications

引用

5th International conference on Control and Automation, ICCA'05

作者： Popa, Dan O. Sreenath, Koushil Lewis, Frank L. University of Texas at Arlington Arlington TX United States

ISBN: (纸本)0780391381

The use of robotics in environmental monitoring applications requires distributed sensor systems optimized for effective estimation of relevant models subject to energy and environmental constraints. The sensor carrying robots are in fact agents that facilitate the repositioning of network nodes in order to increase their coverage and accuracy. Wireless or acoustic network communication is an essential technology in transmitting the sensed as well as telemetry information between robots. Each mobile sensing node (robot) is characterized by sensing or measurement noise, localization uncertainty, and navigates in a region with a parameterized field model. This paper addresses a problem of great importance to the SN robotic deployment: adaptive sampling by selection and repositioning of mobile sensing nodes in order to optimally estimate the parameters of distributed variable field models. We present simulation results using deployment scenarios that will be experimentally validated at a future date. © 2005 IEEE.

关键词： robotics

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distributed autonomous systems: resource management, planning, and control algorithms

Distributed autonomous systems: resource management, plannin...

引用

conference on Signal Processing, sensor fusion, and Target Recognition XIV

作者： Smith, JF Nguyen, TH USN Res Lab Washington DC 20375 USA

ISBN: (纸本)0819457949

distributed autonomous systems, i.e., systems that have separated distributed components, each of which, exhibit some degree of autonomy are increasingly providing solutions to naval and other DoD problems. Recently developed control, planning and resource allocation algorithms for two types of distributed autonomous systems will be discussed. The first distributed autonomous system (DAS) to be discussed consists of a collection of unmanned aerial vehicles (UAVs) that are under fuzzy logic control. The UAVs fly and conduct meteorological sampling in a coordinated fashion determined by their fuzzy logic controllers to determine the atmospheric index of refraction. Once in flight no human intervention is required. A fuzzy planning algorithm determines the optimal trajectory, sampling rate and pattern for the UAVs and an interferometer platform while taking into account risk, reliability, priority for sampling in certain regions, fuel limitations, mission cost, and related uncertainties. The real-time fuzzy control algorithm running on each UAV will give the UAV limited autonomy allowing it to change course immediately without consulting with any commander, request other UAVs to help it, alter its sampling pattern and rate when observing interesting phenomena, or to terminate the mission and return to base. The algorithms developed will be compared to a resource manager (RM) developed for another DAS problem related to electronic attack (EA). Ibis RM is based on fuzzy logic and optimized by evolutionary algorithms. It allows a group of dissimilar platforms to use EA resources distributed throughout the group. For both DAS types significant theoretical and simulation results will be presented.

关键词： fuzzy logic resource management evolutionary computing robotic control distributed autonomous systems

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Analysis and exploration of multi-sensor images: A cooperative multi-agent approach

Analysis and exploration of multi-sensor images: A cooperati...

引用

2nd International conference on Cybernetics and Information Technologies, Systems and Applications/11th International conference on Information Systems Analysis and Synthesis

作者： Basir, Otman Zhu, Hongwei Univ Waterloo Dept Elect & Comp Engn Waterloo ON N2L 3G1 Canada

ISBN: (纸本)9789806560420

This paper presents a new cooperative multi-agent system (MAS) model with the hierarchical and distributed architecture for multi-image processing. This approach is based on the notion of a typical three-level image fusion model, considering that an image processing application can be carried out at pixel-level, feature-level, and decision-level. As an example, the proposed MAS model is applied to the multi modality MR images based human brain tissue segmentation problem, with cooperations achieved between both intra-image agents and inter-image agents. The experimental results have demonstrated the effectiveness of the cooperative multiagent segmentation approach.

关键词： multi-image processing multi-agent systems (MAS) cooperation image segmentation

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Task inference and distributed task management in the centibots robotic system

Task inference and distributed task management in the centib...

引用

4th International conference on Autonomous agents and Multi agent Systems, AAMAS 05

作者： Ortiz Jr., Charles L. Vincent, Régis Morisset, Benoit SRI International 333 Ravenswood Ave Menlo Park CA 94025

We describe the Centibots system, a very large scale distributed robotic system, consisting of more than 100 robots, that has been successfully deployed in large, unknown indoor environments, over extended periods of time (i.e., durations corresponding to several power cycles). Unlike most multiagent systems, the set of tasks about which teams must collaborate is not given a priori. We first describe a task inference algorithm that identifies potential team commitments that collectively balance constraints such as reachability, sensor coverage, and communication access. We then describe a dispatch algorithm for task distribution and management that assigns resources depending on either task density or replacement requirements stemming from failures or power shortages. The targeted deployment environments are expected to lack a supporting communication infrastructure;robots manage their own network and reason about the concomitant localization constraints necessary to maintain team communication. Finally, we present quantitative results in terms of a "search and rescue problem" and discuss the team-oriented aspects of the system in the context of prevailing theories of multiagent collaboration. Copyright 2005 ACM.

关键词： robotics

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A small, cheap, and portable reconnaissance robot

A small, cheap, and portable reconnaissance robot

引用

conference on sensors, and Command, Control, Communications, and Intelligence (C31) Technologies for Homeland Security and Homeland Defense IV

作者： Kenyon, SH Creary, D Thi, D Maynard, J Northeastern Univ Sch Engn Technol Boston MA 02115 USA

ISBN: (纸本)0819457639

While there is much interest in human-carriable mobile robots for defense/security applications, existing examples are still too large/heavy, and there are not many successful small human-deployable mobile ground robots, especially ones that can survive being thrown/dropped. We have developed a prototype small short-range teleoperated indoor reconnaissance/surveillance robot that is semi-autonomous. It is self-powered, self-propelled, spherical, and meant to be carried and thrown by humans into indoor, yet relatively unstructured, dynamic environments. The robot uses multiple channels for wireless control and feedback, with the potential for inter-robot communication, swarm behavior, or distributed sensor network capabilities. The primary reconnaissance sensor for this prototype is visible-spectrum video. This paper focuses more on the software issues, both the onboard intelligent real time control system and the remote user interface. The communications, sensor fusion, intelligent real time controller, etc. are implemented with onboard microcontrollers. We based the autonomous and teleoperation controls on a simple finite state machine scripting layer. Minimal localization and autonomous routines were designed to best assist the operator, execute whatever mission the robot may have, and promote its own survival. We also discuss the advantages and pitfalls of an inexpensive, rapidly-developed semi-autonomous robotic system, especially one that is spherical, and the importance of human-robot interaction as considered for the human-deployment and remote user interface.

关键词： reconnaissance surveillance remote sensing mobile sensor platform miniature robots teleoperation scripted robots human-robot interaction sensor networks

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distributed fusion and communication management for target identification

Distributed fusion and communication management for target i...

引用

International conference on Information fusion

作者： C.-Y. Chong S. Mori BAE Systems Mountain View CA USA

The performance of target identification can be improved by fusing the data from multiple sensors. Even though distributed fusion has advantages of lower communication bandwidth, less processing at a central location, and increased robustness over centralized fusion, it has to address technical issues such as the conditional dependence of information to be fused by a fusion agent. This paper presents distributed fusion and communication management algorithms for target identification. Information graphs are used to select fusion architectures that minimize the effect of information double counting due to communication. Bayesian networks are used to model the target identification problem and identify the sufficient information that needs to be communicated between processing agents for optimal fusion. Communication strategies are developed to determine when a fusion agent should communicate with another fusion agent. Simulation examples demonstrate the performance of distributed fusion and communication management.

关键词： Bayesian methods Bandwidth sensor phenomena and characterization Target tracking Robustness sensor systems Identity management systems Military communication Geometry Information analysis

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robotic deployment for environmental sampling applications

Robotic deployment for environmental sampling applications

引用

International conference on Control and Automation (ICCA)

作者： D.O. Popa K. Sreenath F.L. Lewis Automation and Robotics Research Institute (ARRI) University of Technology Arlington TX USA

关键词： Sampling methods Robot sensing systems Mobile robots Monitoring sensor systems Constraint optimization sensor phenomena and characterization Acoustic sensors Wireless sensor networks Mobile communication

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A knowledge processing middleware framework and its relation to the JDL data fusion model

A knowledge processing middleware framework and its relation...

引用

International conference on Information fusion

作者： F. Heintz P. Doherty Department of Computer and Information Science Linköping Universitet Sweden

Any autonomous system embedded in a dynamic and changing environment must be able to create qualitative knowledge and object structures representing aspects of its environment on the fly from raw or preprocessed sensor data in order to reason qualitatively about the environment and to supply such state information to other nodes in the distributed network in which it is embedded. These structures must be managed and made accessible to deliberative and reactive functionalities whose successful operation is dependent on being situationally aware of the changes in both the robotic agent's embedding and internal environments. DyKnow is a knowledge processing middleware framework which provides a set of functionalities for contextually creating, storing, accessing and processing such structures. The framework is implemented and has been deployed as part of a deliberative/reactive architecture for an autonomous unmanned aerial vehicle. The architecture itself is distributed and uses real-time CORBA as a communications infrastructure. We describe the system and show how it can be used to create more abstract entity and state representations of the world which can then be used for situation awareness by an unmanned aerial vehicle in achieving mission goals. We also show that the framework is a working instantiation of many aspects of the revised JDL data fusion model.

关键词： Middleware Unmanned aerial vehicles Prototypes Vehicle dynamics sensor fusion Software architecture Software prototyping Monitoring Computer networks distributed computing

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Collaborating agent communities for information fusion and decision making

Collaborating agent communities for information fusion and d...

引用

International conference on Integration of Knowledge Intensive Multi-Agent Systems (KIMAS)

作者： H. Alex M. Kumar B. Shirazi Department of Computer Science University of Technology TX USA

Increasing number of smart sensors are being embedded in the environment to constantly sense and react to events. The applicability of sensors can be enhanced significantly by deploying collaborating software agents that meet the needs of dynamic applications. In this paper, we investigate the coupling of sensors and associated agents for real time information fusion and decision making in distributed and dynamic applications. Two major challenges for proactive and real time collaboration among agents are (I) heterogeneity of sensors, information representation and granularity and (2) fusion of uncertain, redundant, complementary and time sensitive information from various sensors. We propose a framework that efficiently solves the above two challenges through the use of communities of agents that cooperate in real-time to make intelligent and informed decisions using Bayesian network reasoning. We describe in detail the organization of the agent community and the process of community formation. We propose and demonstrate a learning based approach called LEVeL to effectively measure the confidence in cooperating agent observations.

关键词： Collaboration Decision making Intelligent sensors Ontologies sensor fusion Information representation Collaborative work Application software Bayesian methods Collaborative software

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